/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file    can.c
 * @brief   This file provides code for the configuration
 *          of the CAN instances.
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* CAN1 init function */
void MX_CAN1_Init(void)
{
    /* USER CODE BEGIN CAN1_Init 0 */

    /* USER CODE END CAN1_Init 0 */

    /* USER CODE BEGIN CAN1_Init 1 */

    /* USER CODE END CAN1_Init 1 */
    hcan1.Instance                  = CAN1;
    hcan1.Init.Prescaler            = 3;
    hcan1.Init.Mode                 = CAN_MODE_NORMAL;
    hcan1.Init.SyncJumpWidth        = CAN_SJW_1TQ;
    hcan1.Init.TimeSeg1             = CAN_BS1_10TQ;
    hcan1.Init.TimeSeg2             = CAN_BS2_3TQ;
    hcan1.Init.TimeTriggeredMode    = DISABLE;
    hcan1.Init.AutoBusOff           = ENABLE;
    hcan1.Init.AutoWakeUp           = DISABLE;
    hcan1.Init.AutoRetransmission   = ENABLE;
    hcan1.Init.ReceiveFifoLocked    = DISABLE;
    hcan1.Init.TransmitFifoPriority = ENABLE;
    if (HAL_CAN_Init(&hcan1) != HAL_OK)
    {
        Error_Handler();
    }
    /* USER CODE BEGIN CAN1_Init 2 */

    /* USER CODE END CAN1_Init 2 */
}
/* CAN2 init function */
void MX_CAN2_Init(void)
{
    /* USER CODE BEGIN CAN2_Init 0 */

    /* USER CODE END CAN2_Init 0 */

    /* USER CODE BEGIN CAN2_Init 1 */

    /* USER CODE END CAN2_Init 1 */
    hcan2.Instance                  = CAN2;
    hcan2.Init.Prescaler            = 3;
    hcan2.Init.Mode                 = CAN_MODE_NORMAL;
    hcan2.Init.SyncJumpWidth        = CAN_SJW_1TQ;
    hcan2.Init.TimeSeg1             = CAN_BS1_10TQ;
    hcan2.Init.TimeSeg2             = CAN_BS2_3TQ;
    hcan2.Init.TimeTriggeredMode    = DISABLE;
    hcan2.Init.AutoBusOff           = ENABLE;
    hcan2.Init.AutoWakeUp           = DISABLE;
    hcan2.Init.AutoRetransmission   = ENABLE;
    hcan2.Init.ReceiveFifoLocked    = DISABLE;
    hcan2.Init.TransmitFifoPriority = ENABLE;
    if (HAL_CAN_Init(&hcan2) != HAL_OK)
    {
        Error_Handler();
    }
    /* USER CODE BEGIN CAN2_Init 2 */

    /* USER CODE END CAN2_Init 2 */
}

static uint32_t HAL_RCC_CAN1_CLK_ENABLED = 0;

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};
    if (canHandle->Instance == CAN1)
    {
        /* USER CODE BEGIN CAN1_MspInit 0 */

        /* USER CODE END CAN1_MspInit 0 */
        /* CAN1 clock enable */
        HAL_RCC_CAN1_CLK_ENABLED++;
        if (HAL_RCC_CAN1_CLK_ENABLED == 1)
        {
            __HAL_RCC_CAN1_CLK_ENABLE();
        }

        __HAL_RCC_GPIOD_CLK_ENABLE();
        /**CAN1 GPIO Configuration
        PD0     ------> CAN1_RX
        PD1     ------> CAN1_TX
        */
        GPIO_InitStruct.Pin       = GPIO_PIN_0 | GPIO_PIN_1;
        GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull      = GPIO_NOPULL;
        GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
        GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
        HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

        /* CAN1 interrupt Init */
        HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
        HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
        HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
        HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
        /* USER CODE BEGIN CAN1_MspInit 1 */

        /* USER CODE END CAN1_MspInit 1 */
    }
    else if (canHandle->Instance == CAN2)
    {
        /* USER CODE BEGIN CAN2_MspInit 0 */

        /* USER CODE END CAN2_MspInit 0 */
        /* CAN2 clock enable */
        __HAL_RCC_CAN2_CLK_ENABLE();
        HAL_RCC_CAN1_CLK_ENABLED++;
        if (HAL_RCC_CAN1_CLK_ENABLED == 1)
        {
            __HAL_RCC_CAN1_CLK_ENABLE();
        }

        __HAL_RCC_GPIOB_CLK_ENABLE();
        /**CAN2 GPIO Configuration
        PB5     ------> CAN2_RX
        PB6     ------> CAN2_TX
        */
        GPIO_InitStruct.Pin       = GPIO_PIN_5 | GPIO_PIN_6;
        GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
        GPIO_InitStruct.Pull      = GPIO_NOPULL;
        GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
        GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
        HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

        /* CAN2 interrupt Init */
        HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
        HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
        HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
        HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
        /* USER CODE BEGIN CAN2_MspInit 1 */

        /* USER CODE END CAN2_MspInit 1 */
    }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
    if (canHandle->Instance == CAN1)
    {
        /* USER CODE BEGIN CAN1_MspDeInit 0 */

        /* USER CODE END CAN1_MspDeInit 0 */
        /* Peripheral clock disable */
        HAL_RCC_CAN1_CLK_ENABLED--;
        if (HAL_RCC_CAN1_CLK_ENABLED == 0)
        {
            __HAL_RCC_CAN1_CLK_DISABLE();
        }

        /**CAN1 GPIO Configuration
        PD0     ------> CAN1_RX
        PD1     ------> CAN1_TX
        */
        HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0 | GPIO_PIN_1);

        /* CAN1 interrupt Deinit */
        HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
        HAL_NVIC_DisableIRQ(CAN1_RX1_IRQn);
        /* USER CODE BEGIN CAN1_MspDeInit 1 */

        /* USER CODE END CAN1_MspDeInit 1 */
    }
    else if (canHandle->Instance == CAN2)
    {
        /* USER CODE BEGIN CAN2_MspDeInit 0 */

        /* USER CODE END CAN2_MspDeInit 0 */
        /* Peripheral clock disable */
        __HAL_RCC_CAN2_CLK_DISABLE();
        HAL_RCC_CAN1_CLK_ENABLED--;
        if (HAL_RCC_CAN1_CLK_ENABLED == 0)
        {
            __HAL_RCC_CAN1_CLK_DISABLE();
        }

        /**CAN2 GPIO Configuration
        PB5     ------> CAN2_RX
        PB6     ------> CAN2_TX
        */
        HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5 | GPIO_PIN_6);

        /* CAN2 interrupt Deinit */
        HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
        HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
        /* USER CODE BEGIN CAN2_MspDeInit 1 */

        /* USER CODE END CAN2_MspDeInit 1 */
    }
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */
